A humanoid robot with a 7-degree-of-freedom arm

Abstract

The application relates to a humanoid robot with a 7-degree-of-freedom arm, the arm has 7 rotation degrees of freedom, and the center of each steering engine is approximately located on the same straight line through the structural design of each joint seat, thereby naturally forming an arm similar to a human being, and the use requirement of the humanoid robot can be met; the three leg steering engines at the upper end of the leg part improve the flexibility of the leg part movement, and the connecting structure of the first leg joint seat and the second leg joint seat at the upper end of the leg part can guarantee that the structure of the three steering engines is compact and closer to the body position, the leg part power is not affected, and the power walking of the leg part of the application mainly depends on the stretching and contraction of the first driving device at the back of the thigh and the second driving device and the third driving device at the back of the lower leg, so that the load capacity of the leg part can still be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a humanoid robot with a 7-degree-of-freedom arm. Background Technology

[0002] Humanoid robots are bipedal robots that, due to their human-like morphological features, are well-suited to perform complex tasks in environments designed for humans, and have broad application prospects in fields such as medical care, social services, and industrial manufacturing.

[0003] However, existing humanoid robot arms have few degrees of freedom and low motion precision, making it difficult to achieve high-precision complex movements and adapt to complex operating environments. For example, patent CN219790352U discloses an intelligent bipedal humanoid robot based on Jetsonnano, whose arm includes a shoulder servo motor, an upper arm servo motor, a forearm servo motor, and a hand servo motor. The hand servo motor is used for hand movements, so the robot arm actually only has three rotational degrees of freedom: shoulder rotation, upper arm rotation, and forearm rotation. Another example is patent CN205769682U, which discloses a humanoid robot body structure that includes two arms with three degrees of freedom. Furthermore, since current robotic arms mainly rely on servo motors to achieve movement, increasing the number of servo motors to improve the arm's degrees of freedom would increase the arm's length or volume, which is not conducive to humanoid robot operation. Moreover, existing multi-degree-of-freedom arms are usually designed for applications with a certain working height, such as power grids, and are not designed for humanoid robots. For example, CN110193822B patent discloses a 7-degree-of-freedom high-voltage live-line working robotic arm, which includes 7 motors, a large arm component, a small arm component, a gripping component, and other structures. However, although its servo motor connection method can ensure the working height (or length), it also makes the entire robotic arm structure less compact and cannot be used on both sides of a humanoid robot's body.

[0004] In addition, existing humanoid robot legs are usually driven by hydraulic units, which can ensure the robot's load capacity, but also makes the leg structure more complex. For example, patent CN111959633B discloses a hydraulically driven legged bionic humanoid robot whose legs include, from top to bottom, a hip joint, a thigh plate, a knee joint, a calf plate, an ankle joint, and a foot plate. The hip joint has three degrees of freedom: rotation, lateral movement, and pitch; the knee joint has one degree of freedom: pitch; and the ankle joint can achieve forward and backward pitch or left and right lateral movement. The robot's hip joint includes structures such as a hip joint lateral swing hydraulic cylinder, a servo cylinder, a connecting plate, a thigh plate, and an upper limb connecting frame. The connecting plate, thigh plate, upper limb connecting frame, and hip joint lateral swing hydraulic cylinder form a quadrilateral to achieve lateral swing motion conversion. The hip joint pitch motion is driven by the hip joint pitch hydraulic drive unit rotating axially around a threaded shaft. Furthermore, the hip joint pitch hydraulic drive unit, the hip hydraulic drive unit support frame, the hip torsion joint, and the thigh plate form a four-bar linkage to achieve motion conversion. Therefore, the robot's leg structure is relatively complex.

[0005] The legs in the aforementioned CN205769682U patent also have 6 degrees of freedom. However, as described in the background technology of CN111959633B patent, the components of the leg mechanism of this bipedal robot driven by motors are arranged in a relatively dispersed manner, resulting in disadvantages such as low overall output and insufficient load capacity. Summary of the Invention

[0006] The purpose of this invention is to provide a humanoid robot with a 7-DOF arm. The arm of this invention has 7 rotational degrees of freedom and can be formed to resemble a human arm, which can meet the requirements for use as a humanoid robot. At the same time, the legs of this invention utilize three leg servos close to the body to improve the flexibility of leg movements, while also ensuring the load-bearing capacity of the legs, and the overall structure of the legs is more compact.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A humanoid robot with 7 degrees of freedom arms includes a torso, a head at the upper end of the torso, arms on both sides of the torso, and legs at the lower end of the torso. Each arm comprises a first arm servo motor, a first joint seat, a second arm servo motor, a second joint seat, a third arm servo motor, a third joint seat, a fourth arm servo motor, a fourth joint seat, a fifth arm servo motor, a fifth joint seat, a sixth arm servo motor, a sixth joint seat, a seventh arm servo motor, and a seventh joint seat, connected sequentially. The second joint seat includes two arc-shaped plates A on either side, with the upper ends of the arc-shaped plates A connected to the corresponding ends of the second arm servo motors, and the lower ends connected via a second lower connecting plate. The second lower connecting plate is fitted onto the third arm servo motor. The third joint seat includes a connecting post, with the upper end of the connecting post connected to the first arm servo motor. The power end of the three-arm servo is connected, and the lower end is provided with a connecting sleeve set in the middle of the fourth arm servo. The fourth joint seat includes an arc-shaped plate B, and the upper end of the arc-shaped plate B is connected to the power end of the fourth arm servo. The lower end of the arc-shaped plate B is provided with a fourth lower connecting plate set on the fifth arm servo. The fifth joint seat includes a connecting sleeve two set on the sixth arm servo. The upper end of the connecting sleeve two is connected to the power end of the fifth arm servo. The sixth joint seat has arc-shaped plates C on both sides. The upper end of the arc-shaped plate C is fixed to the connecting sleeve two. The lower end of the arc-shaped plate C is provided with a joint hinge shaft and is hinged to the seventh arm servo. At the same time, the power end of the sixth arm servo is provided with a drive plate and is hinged to the tail end of the seventh arm servo. The seventh joint seat includes an arc-shaped plate D. The upper end of the arc-shaped plate D is connected to the power end of the seventh arm servo. The lower end is connected to the palm.

[0009] The first arm servo is mounted on the body and is perpendicularly connected to the axis of the second arm servo via a first joint seat. The first joint seat includes a first upper connecting plate and a first lower connecting plate that are perpendicular to each other. The first upper connecting plate is fixed to the power end of the first arm servo, and the first lower connecting plate is fixed to the middle of the second arm servo.

[0010] The palm is provided with a palm connecting flange at the rear end, and the lower end of the arc plate D is provided with a seventh lower connecting plate that is fixedly connected to the palm connecting flange.

[0011] The leg assembly includes a first leg servo, a first leg joint seat, a second leg servo, a second leg joint seat, a third leg servo, and a thigh, all connected in sequence. The first leg joint seat includes an arc-shaped plate E, with a first upper leg connecting plate fixed to the first leg servo at its upper end. The first upper leg connecting plate is also fixed to the body. A first lower leg connecting sleeve is fitted onto the middle of the second leg servo at the lower end of the arc-shaped plate E. The second leg joint seat includes a second upper leg connecting plate and a second lower leg connecting plate that are perpendicular to each other. The second upper leg connecting plate is connected to the power end of the second leg servo, and the second lower leg connecting plate is fitted onto the middle of the third leg servo. The power end of the third leg servo is connected to the upper end of the thigh.

[0012] The leg includes a lower leg, a foot connecting seat, and a foot connected in sequence. The lower end of the thigh is hinged to the upper end of the lower leg, and a first driving device is provided on the back side of the thigh. The lower leg is driven to rotate by the first driving device. The lower end of the lower leg is hinged to the foot connecting seat through a foot pitch hinge. The foot connecting seat is provided with a foot side swing hinge. Drive hinge plates are provided on both sides of the foot connecting seat. A second driving device and a third driving device are provided on the back side of the lower leg. The upper ends of the second driving device and the third driving device are both hinged to the hinge seat provided on the lower leg. The lower ends of the second driving device and the third driving device are respectively hinged to the drive hinge plates on the corresponding sides.

[0013] The upper part of the thigh is provided with an upper thigh hinge end, and the upper end of the calf is provided with a calf hinge end. The upper end of the first driving device is hinged to the upper thigh hinge end, and the lower end is hinged to the calf hinge end.

[0014] The body includes a hip and a torso. The hip is equipped with a first torso servo. An L-shaped torso connector is located on the upper side of the hip. The horizontal part of the lower side of the torso connector is connected to the power end of the first torso servo. A second torso servo is located on the vertical part of the torso connector. A connecting frame is located at the lower end of the torso and is connected to the power end of the second torso servo. The upper end of the leg is connected to the hip. The upper end of the arm is connected to the corresponding side of the upper end of the torso.

[0015] The upper end of the torso is provided with a head mounting plate, and the head mounting plate is provided with arm connecting plates on both sides. The upper end of the arm is connected to the corresponding arm connecting plate, and the head is mounted on the head mounting plate.

[0016] A laser displacement sensor is provided on the front side of the torso.

[0017] The head includes a first L-shaped support plate, a first head servo, a second L-shaped support plate, a second head servo, and a third L-shaped support plate. The horizontal plate of the first L-shaped support plate is fixedly connected to the head mounting plate at the upper end of the torso. The vertical plate of the first L-shaped support plate is fitted onto the first head servo. The vertical plate of the second L-shaped support plate is connected to the power end of the first head servo. The horizontal plate of the second L-shaped support plate is connected to the second head servo. The horizontal plate of the third L-shaped support plate is fitted onto the power end of the second head servo. A binocular camera is provided on the vertical plate of the third L-shaped support plate.

[0018] The advantages and positive effects of this invention are as follows:

[0019] 1. The arm of the present invention has 7 rotational degrees of freedom, and the structural design of each joint seat can ensure that the centers of each servo motor are approximately on the same straight line, thus naturally forming an arm similar to that of a human. Therefore, the arm of the present invention can improve the flexibility of movement and also meet the requirements for use in humanoid robots.

[0020] 2. The leg of the present invention improves the flexibility of leg movement by using three leg servos at the upper end. The connection structure of the first leg joint seat and the second leg joint seat at the upper end of the leg can ensure that the three servos are compact and closer to the body, without affecting the leg's power generation. At the same time, the power generation of the leg of the present invention is mainly achieved by the extension and retraction of the first drive device on the back of the thigh and the second and third drive devices on the back of the calf, which can still ensure the load capacity of the leg.

[0021] 3. The body of the present invention includes two rotational degrees of freedom: horizontal rotation and left-right swing. The head of the present invention includes two rotational degrees of freedom: forward-backward pitch rotation and horizontal rotation. The above structure can ensure that the binocular camera on the robot head and the laser displacement sensor on the upper part of the body can perform flexible scanning, while ensuring the flexibility of the robot's upper body movements. Attached Figure Description

[0022] Figure 1 This is an overall schematic diagram of the present invention.

[0023] Figure 2 for Figure 1 The right view of the present invention,

[0024] Figure 3 for Figure 1 A schematic diagram of the mid-head structure.

[0025] Figure 4 for Figure 1 A schematic diagram of the midsection of the body.

[0026] Figure 5 for Figure 1 A structural diagram of the midarm.

[0027] Figure 6 for Figure 5 Right view of the middle arm.

[0028] Figure 7 for Figure 1 A schematic diagram of the middle leg.

[0029] Figure 8 for Figure 7 Left view of the middle leg.

[0030] Among them, 1 is a binocular camera, 2 is the head, 201 is the first L-shaped support plate, 202 is the first head servo motor, 203 is the second L-shaped support plate, 204 is the second head servo motor, 205 is the third L-shaped support plate, 3 is a laser displacement sensor, 4 is the arm, 401 is the first arm servo motor, 4011 is the first joint seat, 40111 is the first upper connecting plate, 40112 is the first lower connecting plate, 402 is the second arm servo motor, 4021 is the second joint seat, 40211 is the second upper connecting plate, 40212 is the arc plate A, 40213 is the second lower connecting plate, 403 is the third arm servo motor, and 4031 is the third arm servo motor. Joint seat, 40311 is the third upper connecting plate, 40312 is the connecting post, 40313 is the connecting sleeve one, 404 is the fourth arm servo, 4041 is the fourth joint seat, 40411 is the fourth upper connecting plate, 40412 is the arc plate B, 40413 is the fourth lower connecting plate, 405 is the fifth arm servo, 4051 is the fifth joint seat, 40511 is the fifth upper connecting plate, 40512 is the connecting sleeve two, 406 is the sixth arm servo, 4061 is the sixth joint seat, 40611 is the arc plate C, 40612 is the joint hinge shaft, 4062 is the drive plate, 407 is the seventh arm servo, 4071 is the... The seven joints are: 40711 is the seventh upper connecting plate, 40712 is the arc-shaped plate D, 40713 is the seventh lower connecting plate, 408 is the hand connecting flange, 5 is the torso, 501 is the first torso servo, 502 is the hip, 5021 is the torso connecting seat, 503 is the second torso servo, 504 is the torso, 505 is the head mounting plate, 5051 is the arm connecting plate, 6 is the hand, 7 is the leg, 701 is the first leg servo, 7011 is the first leg joint seat, 70111 is the first leg upper connecting plate, 70112 is the arc-shaped plate E, 70113 is the first leg lower connecting sleeve, and 702 is the second leg servo. 7021 is the second leg joint seat, 70211 is the upper connecting plate of the second leg, 70212 is the lower connecting plate of the second leg, 703 is the third leg servo, 7031 is the thigh, 70311 is the lower hinge shaft, 70312 is the upper hinge end of the thigh, 704 is the first drive device, 7041 is the lower leg, 70411 is the upper hinge end of the lower leg, 70412 is the foot pitch hinge shaft, 70413 is the hinge seat, 705 is the second drive device, 706 is the third drive device, 707 is the foot connecting seat, 7071 is the drive hinge plate, 7072 is the foot side swing hinge shaft, 708 is the foot connecting flange, and 8 is the foot. Detailed Implementation

[0031] The invention will now be described in further detail with reference to the accompanying drawings.

[0032] like Figures 1-8As shown, the present invention includes a torso 5, with a head 2 at the upper end of the torso 5, arms 4 on both sides of the torso 5, and legs 7 at the lower end of the torso 5, wherein... Figures 5-6As shown, the arm 4 has seven degrees of freedom and includes seven arm servos. The first arm servo 401 is mounted on the body 5 and perpendicularly connected to the axis of the second arm servo 402 via a first joint seat 4011. The first joint seat 4011 includes a first upper connecting plate 40111 and a first lower connecting plate 40112 that are perpendicular to each other. The first upper connecting plate 40111 is fixed to the power end of the first arm servo 401, and the first lower connecting plate 40112 is fixed to the middle of the second arm servo 402. The second arm servo 402 is perpendicularly connected to the axis of the third arm servo 403 via a second joint seat 4021. The second joint seat 4021 includes arc-shaped plates A40212 on both sides. The upper end of 0212 is provided with a second upper connecting plate 40211, which is connected to the corresponding end of the second arm servo 402. The lower end is connected through a second lower connecting plate 40213, and the second lower connecting plate 40213 is fitted onto the third arm servo 403. The lower end of the third arm servo 403 is perpendicularly connected to the axis of the fourth arm servo 404 through a third joint seat 4031. The third joint seat 4031 includes a connecting post 40312. The upper end of the connecting post 40312 is connected to the power end on the lower side of the third arm servo 403 through the third upper connecting plate 40311, and the lower end is provided with a connecting sleeve 40313, which is fitted onto the middle of the fourth arm servo 404. The fourth arm servo 404 is connected to the fifth arm servo 404 through the fourth joint seat 4041. The arm servo 405 is vertically connected along its axis, and the fourth joint seat 4041 includes an arc-shaped plate B40412. The upper end of the arc-shaped plate B40412 has a fourth upper connecting plate 40411 connected to the power end of the fourth arm servo 404, and the lower end has a fourth lower connecting plate 40413 fitted onto the fifth arm servo 405. The fifth arm servo 405 is vertically connected to the sixth arm servo 406 via the fifth joint seat 4051. The fifth joint seat 4051 includes a connecting sleeve 40512 fitted onto the sixth arm servo 406. The upper end of the connecting sleeve 40512 has a fifth upper connecting plate 40511 connected to the power end of the fifth arm servo 405. The sixth arm servo 406 is connected via the sixth joint... The sixth joint seat 4061 is connected to the seventh arm servo 407, and the sixth joint seat 4061 has arc-shaped plates C40611 on both sides. The upper end of the arc-shaped plate C40611 is fixed to the connecting sleeve 40512, and the lower end is provided with a joint hinge 40612 that is hinged to the seventh arm servo 407. The power end of the sixth arm servo 406 is provided with a drive plate 4062 that is hinged to the tail end of the seventh arm servo 407. The sixth arm servo 406 drives the seventh arm servo 407 to rotate around the joint hinge 40612 through the drive plate 4062. The seventh arm servo 407 is connected to the palm connecting flange 408 at the rear end of the palm 6 through the seventh joint seat 4071, and the seventh joint seat 4071 includes an arc-shaped plate D40712.The upper end of the arc-shaped plate D40712 is provided with a seventh upper connecting plate 40711, which is connected to the power end of the seventh arm servo 407, and the lower end is provided with a seventh lower connecting plate 40713, which is fixedly connected to the palm connecting flange 408. Through the above-mentioned arm structure design, the present invention can not only achieve 7 degrees of freedom rotation, but also ensure that the overall structure of the arm is compact. Compared with the prior art, the servos of the arm of the present invention are connected through the joint seats, which can ensure that the center is approximately on the same straight line, thus naturally forming a human-like arm. Therefore, the arm 4 of the present invention can improve the flexibility of movement and also meet the usage requirements of humanoid robots. The sixth arm servo 406 drives the seventh arm servo 407 to rotate around the joint hinge axis 40612 at the lower end of the sixth joint seat 4061 through the drive plate 4062. This can better control the swing range of the lower palm 6. At the same time, the arc plate C40611 of the sixth joint seat 4061 can ensure that there is enough space between the seventh arm servo 407 and the sixth arm servo 406, thus ensuring that the lower palm 6 has enough movement space. The palm 6 is a technology known in the art; for example, it can adopt the palm structure of CN112571446B or other suitable commercially available products.

[0033] like Figures 7-8As shown, the leg 7 of the present invention includes a first leg servo 701, a first leg joint seat 7011, a second leg servo 702, a second leg joint seat 7021, a third leg servo 703, a thigh 7031, a lower leg 7041, a foot connecting seat 707, and a foot 8 connected in sequence. The first leg joint seat 7011 includes an arc-shaped plate E70112, and the upper end of the arc-shaped plate E70112 is fixed with a first leg upper connecting plate 70111. On the first leg servo 701, the first leg upper connecting plate 70111 is fixedly connected to the body 5. The lower end of the arc-shaped plate E70112 is provided with a first leg lower connecting sleeve 70113, which is fitted onto the middle of the second leg servo 702. The second leg joint seat 7021 includes a second leg upper connecting plate 70211 and a second leg lower connecting plate 70212 that are perpendicular to each other. The second leg upper connecting plate 70211 and the second leg servo... The power end of the motor 702 is connected, the second leg lower connecting plate 70212 is fitted onto the middle of the third leg servo 703, the upper end of the thigh 7031 is connected to the power end of the third leg servo 703, and the lower end is hinged to the upper end of the lower leg 7041 through the lower hinge shaft 70311. The upper part of the thigh 7031 is provided with an upper thigh hinge end 70312, and the upper end of the lower leg 7041 is provided with a lower leg hinge end 70411. The first drive device 704 is located on the thigh 702. The upper end of the 031 is hinged to the upper hinge end 70312 of the thigh, and the lower end is hinged to the upper hinge end 70411 of the calf. The first driving device 704 can be a linear driving device such as a cylinder. The lower end of the calf 7041 is hinged to the foot connecting seat 707 via the foot pitch hinge 70412. The foot connecting seat 707 has a foot side swing hinge 7072 inside. The foot connecting seat 707 has driving hinge plates 7071 on both sides. Figure 8 As shown, the lower leg 7041 is provided with a second driving device 705 and a third driving device 706 on its rear side. The upper ends of the second driving device 705 and the third driving device 706 are both hinged to the hinge seat 70413 provided on the lower leg 7041. The lower ends of the second driving device 705 and the third driving device 706 are respectively hinged to the driving hinge plate 7071 on the corresponding side. When the second driving device 705 and the third driving device 706 extend and retract synchronously, they can drive the foot 8 to pitch and rotate back and forth around the foot pitch hinge axis 70412. When the second driving device 705 and the third driving device 706 extend and retract asynchronously, they can drive the foot 8 to swing left and right around the foot swing hinge axis 7072. The lower end of the foot connecting seat 707 is fixed to the foot 8 through a foot connecting flange 708.

[0034] The leg 7 structure of the present invention firstly has three servo motors located near the torso 5 to achieve three rotational degrees of freedom. The connection structure of the first leg joint seat 7011 and the second leg joint seat 7012 can ensure that the three servo motors are compact and closer to the torso 5, without affecting the power generation of the leg 7. The power generation of the leg 7 is limited to the angle adjustment of the leg 7. The power generation of the leg 7 of the present invention is mainly achieved by the extension and retraction of the first drive device 704 on the back of the thigh 7031 and the second drive device 705 and the third drive device 706 on the back of the lower leg 7041, which can still ensure the load capacity of the leg 7.

[0035] like Figure 4 As shown, in this embodiment, the body 5 includes a hip 502 and a torso 504. The hip 502 houses a first torso servo 501. An L-shaped torso connecting seat 5021 is located on the upper side of the hip 502, and the horizontal portion of the lower side of the torso connecting seat 5021 is connected to the power end of the first torso servo 501. A second torso servo 503 is located on the vertical portion of the torso connecting seat 5021. The lower end of the torso 504 has a connecting bracket connected to the power end of the second torso servo 503. Thus, the torso 504 can be driven to rotate horizontally by the first torso servo 501 and can also be driven to swing left and right by the second torso servo 503. Figure 7 As shown, the first upper leg connecting plate 70111 at the upper end of the leg 7 is connected to the hip 502, and as... Figure 4 As shown, the upper end of the torso 504 is provided with a head mounting plate 505, and arm connecting plates 5051 are provided on both sides of the head mounting plate 505. The first arm servo 401 at the upper end of the arm 4 is fixed on the corresponding arm connecting plate 5051. Figure 1 As shown, the head 2 is fixed on the head mounting plate 505.

[0036] like Figure 3 As shown, in this embodiment, the head 2 includes a first L-shaped support plate 201, a first head servo 202, a second L-shaped support plate 203, a second head servo 204, and a third L-shaped support plate 205. The horizontal plate of the first L-shaped support plate 201 is fixedly connected to the head mounting plate 505 at the upper end of the torso 504. The vertical plate of the first L-shaped support plate 201 is fitted onto the first head servo 202. The vertical plate of the second L-shaped support plate 203 is connected to the power end of the first head servo 202. The horizontal plate of the second L-shaped support plate 203 is connected to the second head servo 204. The horizontal plate of the third L-shaped support plate 205 is fitted onto the power end of the second head servo 204. A binocular camera 1 is provided on the vertical plate of the third L-shaped support plate 205. Additionally, as shown... Figure 1As shown, a laser displacement sensor 3 is provided on the front side of the torso 504. Both the binocular camera 1 and the laser displacement sensor 3 are technologies known in the art and are used to guide the robot to walk.

[0037] The working principle of this invention is as follows:

[0038] like Figure 4 As shown, the body 5 of the present invention includes two rotational degrees of freedom: horizontal rotation (implemented by the first body servo 501) and left-right swaying (implemented by the second body servo 503). Figure 3 As shown, the head 2 of the present invention includes two rotational degrees of freedom: pitch rotation (implemented by the first head servo motor 202) and horizontal rotation (implemented by the second head servo motor 204). The above structure can ensure that the binocular camera 1 of the robot head and the laser displacement sensor 3 at the upper end of the body 5 can perform flexible scanning, while ensuring the flexibility of the upper part of the robot's movements.

[0039] like Figures 7-8 As shown, the leg 7 of the present invention includes three rotational degrees of freedom (achieved by the first leg servo 701, the second leg servo 702, and the third leg servo 703), two forward and backward swinging degrees of freedom (the first drive device 704 extends and retracts to achieve forward and backward swinging of the lower leg 7041, and the second drive device 705 and the third drive device 706 extend and retract synchronously to achieve forward and backward swinging of the foot 8), and one left and right swinging degree of freedom (the second drive device 705 and the third drive device 706 extend and retract asynchronously to achieve left and right swinging of the foot 8). The connection structure of the first leg joint seat 7011 and the second leg joint seat 7012 at the upper end of the leg 7 ensures that the three servo structures are compact and closer to the body 5, without affecting the power generation of the leg 7. It is limited to the angle adjustment of the leg 7. The power generation and walking of the leg 7 of the present invention mainly rely on the extension and retraction of the first drive device 704 on the back of the thigh 7031 and the second drive device 705 and the third drive device 706 on the back of the lower leg 7041, so that the load capacity of the leg 7 can still be guaranteed. Therefore, the leg 7 of the present invention can ensure both load-bearing capacity and flexibility of movement, and the overall structure is more compact.

[0040] And such Figures 5-6 As shown, the arm 4 of the present invention has 7 rotational degrees of freedom (achieved by seven arm servos respectively). However, the present invention can ensure that the centers of each servo are approximately on the same straight line through the structural design of each joint seat, thus naturally forming an arm similar to a human arm. Therefore, the arm 4 of the present invention can improve the flexibility of movement and also meet the usage requirements of humanoid robots.

Claims

1. A humanoid robot with a 7-DOF arm, characterized in that: The device includes a torso (5), with a head (2) at the upper end, arms (4) on both sides, and legs (7) at the lower end. Each arm (4) comprises, in sequence, a first arm servo (401), a first joint seat (4011), a second arm servo (402), a second joint seat (4021), a third arm servo (403), a third joint seat (4031), a fourth arm servo (404), a fourth joint seat (4041), a fifth arm servo (405), a fifth joint seat (4051), and a sixth arm servo (406). The sixth joint seat (4061), the seventh arm servo (407), and the seventh joint seat (4071) are provided. The second joint seat (4021) includes two arc-shaped plates A (40212) on both sides, with the upper ends of the arc-shaped plates A (40212) connected to the corresponding ends of the second arm servo (402) and the lower ends connected via a second lower connecting plate (40213). The second lower connecting plate (40213) is fitted onto the third arm servo (403). The third joint seat (4031) includes a connecting post (40312), with the upper end of the connecting post (40312) connected to the third arm servo (403). The power end of the fourth arm servo (404) is connected, and the lower end is provided with a connecting sleeve (40313) which is fitted onto the middle of the fourth arm servo (404). The fourth joint seat (4041) includes an arc plate B (40412), and the upper end of the arc plate B (40412) is connected to the power end of the fourth arm servo (404), and the lower end is provided with a fourth lower connecting plate (40413) which is fitted onto the fifth arm servo (405). The fifth joint seat (4051) includes a connecting sleeve (40512) which is fitted onto the sixth arm servo (406), and the upper end of the connecting sleeve (40512) is connected to the power end of the fifth arm servo (405). The sixth joint seat (4061) has arc-shaped plates C (40611) on both sides. The upper end of the arc-shaped plate C (40611) is fixedly connected to the connecting sleeve II (40512), and the lower end is provided with a joint hinge shaft (40612) that is hinged to the seventh arm servo motor (407). At the same time, the power end of the sixth arm servo motor (406) is provided with a drive plate (4062) that is hinged to the tail end of the seventh arm servo motor (407). The seventh joint seat (4071) includes an arc-shaped plate D (40712). The upper end of the arc-shaped plate D (40712) is connected to the power end of the seventh arm servo motor (407), and the lower end is connected to the palm (6).

2. The humanoid robot with a 7-DOF arm according to claim 1, characterized in that: The first arm servo (401) is mounted on the body (5) and is perpendicularly connected to the axis of the second arm servo (402) via the first joint seat (4011). The first joint seat (4011) includes a first upper connecting plate (40111) and a first lower connecting plate (40112) that are perpendicular to each other. The first upper connecting plate (40111) is fixed to the power end of the first arm servo (401), and the first lower connecting plate (40112) is fixed to the middle of the second arm servo (402).

3. The humanoid robot with a 7-DOF arm according to claim 1, characterized in that: The palm (6) is provided with a palm connecting flange (408) at the rear end, and the lower end of the arc plate D (40712) is provided with a seventh lower connecting plate (40713) which is fixedly connected to the palm connecting flange (408).

4. The humanoid robot with a 7-DOF arm according to claim 1, characterized in that: The leg (7) includes a first leg servo (701), a first leg joint seat (7011), a second leg servo (702), a second leg joint seat (7021), a third leg servo (703), and a thigh (7031) connected in sequence. The first leg joint seat (7011) includes an arc-shaped plate E (70112), and the upper end of the arc-shaped plate E (70112) is provided with a first leg upper connecting plate (70111) fixed to the first leg servo (701). At the same time, the first leg upper connecting plate (70111) is fixedly connected to the body (5). The lower end of E(70112) is provided with a first leg lower connecting sleeve (70113) which is fitted onto the middle of the second leg servo (702). The second leg joint seat (7021) includes a second leg upper connecting plate (70211) and a second leg lower connecting plate (70212) that are perpendicular to each other. The second leg upper connecting plate (70211) is connected to the power end of the second leg servo (702). The second leg lower connecting plate (70212) is fitted onto the middle of the third leg servo (703). The power end of the third leg servo (703) is connected to the upper end of the thigh (7031).

5. The humanoid robot with a 7-DOF arm according to claim 4, characterized in that: The leg (7) includes a lower leg (7041), a foot connecting seat (707), and a foot (8) connected in sequence. The lower end of the thigh (7031) is hinged to the upper end of the lower leg (7041), and a first driving device (704) is provided on the rear side of the thigh (7031). The lower leg (7041) is driven to rotate by the first driving device (704). The lower end of the lower leg (7041) is hinged to the foot connecting seat (707) through a foot pitch hinge (70412), and the foot connecting seat (707) contains... The part is provided with a foot side swing hinge shaft (7072), and the foot connecting seat (707) is provided with drive hinge plates (7071) on both sides. The lower leg (7041) is provided with a second drive device (705) and a third drive device (706) on the rear side. The upper ends of the second drive device (705) and the upper ends of the third drive device (706) are both hinged to the hinge seat (70413) provided on the lower leg (7041). The lower ends of the second drive device (705) and the lower ends of the third drive device (706) are respectively hinged to the drive hinge plates (7071) on the corresponding sides.

6. The humanoid robot with a 7-DOF arm according to claim 5, characterized in that: The upper part of the thigh (7031) is provided with an upper thigh hinge end (70312), and the upper end of the calf (7041) is provided with a calf hinge end (70411). The upper end of the first driving device (704) is hinged to the upper thigh hinge end (70312), and the lower end is hinged to the calf hinge end (70411).

7. The humanoid robot with a 7-DOF arm according to claim 1, characterized in that: The body (5) includes a hip (502) and a torso (504). The hip (502) is equipped with a first torso servo (501). The upper side of the hip (502) is equipped with an L-shaped torso connecting seat (5021). The horizontal part of the lower side of the torso connecting seat (5021) is connected to the power end of the first torso servo (501). The vertical part of the torso connecting seat (5021) is equipped with a second torso servo (503). The lower end of the torso (504) is equipped with a connecting frame connected to the power end of the second torso servo (503). The upper end of the leg (7) is connected to the hip (502). The upper end of the arm (4) is connected to the corresponding side of the upper end of the torso (504).

8. The humanoid robot with a 7-DOF arm according to claim 7, characterized in that: The torso (504) has a head mounting plate (505) at its upper end, and the head mounting plate (505) has arm connecting plates (5051) on both sides. The upper end of the arm (4) is connected to the corresponding arm connecting plate (5051), and the head (2) is mounted on the head mounting plate (505).

9. The humanoid robot with a 7-DOF arm according to claim 7, characterized in that: A laser displacement sensor (3) is provided on the front side of the torso (504).

10. The humanoid robot with a 7-DOF arm according to claim 8, characterized in that: The head (2) includes a first L-shaped support plate (201), a first head servo (202), a second L-shaped support plate (203), a second head servo (204), and a third L-shaped support plate (205). The horizontal plate of the first L-shaped support plate (201) is fixedly connected to the head mounting plate (505) at the upper end of the torso (504). The vertical plate of the first L-shaped support plate (201) is fitted onto the first head servo (202). The vertical plate of the second L-shaped support plate (203) is connected to the power end of the first head servo (202). The horizontal plate of the second L-shaped support plate (203) is connected to the second head servo (204). The horizontal plate of the third L-shaped support plate (205) is fitted onto the power end of the second head servo (204). A binocular camera (1) is provided on the vertical plate of the third L-shaped support plate (205).

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